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AP_MotorsHeli: Move H_Options param up to general vehicle params
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@MattKear
MattKear committed Feb 23, 2024
1 parent 23b7258 commit 1c69e4e
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Showing 2 changed files with 11 additions and 30 deletions.
23 changes: 6 additions & 17 deletions libraries/AP_Motors/AP_MotorsHeli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,12 +103,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
// @User: Advanced
AP_GROUPINFO("HOVER_LEARN", 27, AP_MotorsHeli, _collective_hover_learn, HOVER_LEARN_AND_SAVE),

// @Param: OPTIONS
// @DisplayName: Heli_Options
// @Description: Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX.
// @Bitmask: 0:Use Leaky I
// @User: Standard
AP_GROUPINFO("OPTIONS", 28, AP_MotorsHeli, _heli_options, (uint8_t)HeliOption::USE_LEAKY_I),
// index 28 was OPTIONS and was moved up to copter/heli_params. Do not use this index in the future.

// @Param: COL_ANG_MIN
// @DisplayName: Collective Blade Pitch Angle Minimum
Expand Down Expand Up @@ -341,7 +336,7 @@ void AP_MotorsHeli::output_logic()
// Servos set to their trim values or in a test condition.

// set limits flags
if (!using_leaky_integrator()) {
if (!_heliflags._using_leaky_integrator) {
set_limit_flag_pitch_roll_yaw(true);
} else {
set_limit_flag_pitch_roll_yaw(false);
Expand All @@ -358,7 +353,7 @@ void AP_MotorsHeli::output_logic()
case SpoolState::GROUND_IDLE: {
// Motors should be stationary or at ground idle.
// set limits flags
if (_heliflags.land_complete && !using_leaky_integrator()) {
if (_heliflags.land_complete && !_heliflags._using_leaky_integrator) {
set_limit_flag_pitch_roll_yaw(true);
} else {
set_limit_flag_pitch_roll_yaw(false);
Expand All @@ -380,7 +375,7 @@ void AP_MotorsHeli::output_logic()
// Servos should exhibit normal flight behavior.

// set limits flags
if (_heliflags.land_complete && !using_leaky_integrator()) {
if (_heliflags.land_complete && !_heliflags._using_leaky_integrator) {
set_limit_flag_pitch_roll_yaw(true);
} else {
set_limit_flag_pitch_roll_yaw(false);
Expand All @@ -402,7 +397,7 @@ void AP_MotorsHeli::output_logic()
// Servos should exhibit normal flight behavior.

// set limits flags
if (_heliflags.land_complete && !using_leaky_integrator()) {
if (_heliflags.land_complete && !_heliflags._using_leaky_integrator) {
set_limit_flag_pitch_roll_yaw(true);
} else {
set_limit_flag_pitch_roll_yaw(false);
Expand All @@ -422,7 +417,7 @@ void AP_MotorsHeli::output_logic()
// Servos should exhibit normal flight behavior.

// set limits flags
if (_heliflags.land_complete && !using_leaky_integrator()) {
if (_heliflags.land_complete && !_heliflags._using_leaky_integrator) {
set_limit_flag_pitch_roll_yaw(true);
} else {
set_limit_flag_pitch_roll_yaw(false);
Expand Down Expand Up @@ -497,12 +492,6 @@ void AP_MotorsHeli::update_takeoff_collective_flag(float coll_out)
}
}

// Determines if _heli_options bit is set
bool AP_MotorsHeli::heli_option(HeliOption opt) const
{
return (_heli_options & (uint8_t)opt);
}

// updates the turbine start flag
void AP_MotorsHeli::update_turbine_start()
{
Expand Down
18 changes: 5 additions & 13 deletions libraries/AP_Motors/AP_MotorsHeli.h
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Original file line number Diff line number Diff line change
Expand Up @@ -145,14 +145,6 @@ class AP_MotorsHeli : public AP_Motors {
//return zero lift collective position
float get_coll_mid() const { return _collective_zero_thrust_pct; }

// enum for heli optional features
enum class HeliOption {
USE_LEAKY_I = (1<<0), // 1
};

// use leaking integrator management scheme
bool using_leaky_integrator() const { return heli_option(HeliOption::USE_LEAKY_I); }

// Run arming checks
bool arming_checks(size_t buflen, char *buffer) const override;

Expand All @@ -165,6 +157,9 @@ class AP_MotorsHeli : public AP_Motors {
// Helper function for param conversions to be done in motors class
virtual void heli_motors_param_conversions(void) { return; }

// Helper function to set the _using_leaky_integrator flag
void set_leaky_integrator(bool use) { _heliflags._using_leaky_integrator = use; }

// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];

Expand Down Expand Up @@ -226,9 +221,6 @@ class AP_MotorsHeli : public AP_Motors {
// save parameters as part of disarming
void save_params_on_disarm() override;

// Determines if _heli_options bit is set
bool heli_option(HeliOption opt) const;

// updates the takeoff collective flag indicating that current collective is greater than collective required to indicate takeoff.
void update_takeoff_collective_flag(float coll_out);

Expand Down Expand Up @@ -257,8 +249,9 @@ class AP_MotorsHeli : public AP_Motors {
uint8_t land_complete : 1; // true if aircraft is landed
uint8_t takeoff_collective : 1; // true if collective is above 30% between H_COL_MID and H_COL_MAX
uint8_t below_land_min_coll : 1; // true if collective is below H_COL_LAND_MIN
uint8_t rotor_spooldown_complete : 1; // true if the rotors have spooled down completely
uint8_t rotor_spooldown_complete : 1; // true if the rotors have spooled down completely
uint8_t start_engine : 1; // true if turbine start RC option is initiated
bool _using_leaky_integrator : 1; // true if h_options is set to use leaky I term
} _heliflags;

// parameters
Expand All @@ -269,7 +262,6 @@ class AP_MotorsHeli : public AP_Motors {
AP_Int8 _servo_test; // sets number of cycles to test servo movement on bootup
AP_Float _collective_hover; // estimated collective required to hover throttle in the range 0 ~ 1
AP_Int8 _collective_hover_learn; // enable/disabled hover collective learning
AP_Int8 _heli_options; // bitmask for optional features
AP_Float _collective_zero_thrust_deg;// Zero thrust blade collective pitch in degrees
AP_Float _collective_land_min_deg; // Minimum Landed collective blade pitch in degrees for non-manual collective modes (i.e. modes that use altitude hold)
AP_Float _collective_max_deg; // Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX)
Expand Down

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